Restructured the caterpillar example to make it cleaner

copper-project · Jun 27, 2024 · 8185c70 · 8185c70
1 parent 118818a
commit 8185c70
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Showing 3 changed files with 81 additions and 75 deletions.
diff --git a/examples/cu_caterpillar/copperconfig.ron b/examples/cu_caterpillar/copperconfig.ron
@@ -3,12 +3,12 @@
     tasks: [
         (
             id: "src",
-            type: "CaterpillarSource",
+            type: "tasks::CaterpillarSource",
             base_period_ns: 1000000000,
         ),
         (
             id: "ct-0",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -21,7 +21,7 @@
         ),
         (
             id: "ct-1",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -34,7 +34,7 @@
         ),
         (
             id: "ct-2",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -47,7 +47,7 @@
         ),
         (
             id: "ct-3",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -60,7 +60,7 @@
         ),
         (
             id: "ct-4",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -73,7 +73,7 @@
         ),
         (
             id: "ct-5",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -86,7 +86,7 @@
         ),
         (
             id: "ct-6",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (
@@ -99,7 +99,7 @@
         ),
         (
             id: "ct-7",
-            type: "CaterpillarTask",
+            type: "tasks::CaterpillarTask",
             base_period_ns: 1000000000,
         ),
         (

diff --git a/examples/cu_caterpillar/src/main.rs b/examples/cu_caterpillar/src/main.rs
@@ -1,84 +1,27 @@
-use copper::clock::{ClockProvider, OptionCuTime, RobotClock};
-use copper::cutask::{CuMsg, CuSrcTask, CuTask, CuTaskLifecycle};
-use copper::CuResult;
+pub mod tasks;
+
+use copper::clock::ClockProvider;
+use copper::clock::CuDuration;
+use copper::clock::CuTime;
 use copper_derive::copper_runtime;
 use copper_helpers::basic_logger_runtime_setup;
 use copper_log_derive::debug;
-use cu_rp_gpio::RPGpioMsg;
-use serde::{Deserialize, Serialize};
 use std::path::PathBuf;
 use std::thread::sleep;
 use std::time::Duration;
 
 #[copper_runtime(config = "copperconfig.ron")]
-struct TheVeryHungryCaterpillar {}
-
-#[derive(Serialize, Deserialize, Default)]
-pub struct CaterpillarMsg(bool);
-
-pub struct CaterpillarSource {
-    state: bool,
-}
-
-impl CuTaskLifecycle for CaterpillarSource {
-    fn new(_config: Option<&copper::config::NodeInstanceConfig>) -> CuResult<Self>
-    where
-        Self: Sized,
-    {
-        Ok(Self { state: true })
-    }
-}
-
-impl CuSrcTask for CaterpillarSource {
-    type Output = RPGpioMsg;
-
-    fn process(&mut self, clock: &RobotClock, output: &mut CuMsg<Self::Output>) -> CuResult<()> {
-        // forward the state to the next task
-        self.state = !self.state;
-        output.payload = RPGpioMsg {
-            on: self.state,
-            creation: clock.now().into(),
-            actuation: OptionCuTime::none(),
-        };
-        Ok(())
-    }
-}
-
-pub struct CaterpillarTask {}
-
-impl CuTaskLifecycle for CaterpillarTask {
-    fn new(_config: Option<&copper::config::NodeInstanceConfig>) -> CuResult<Self>
-    where
-        Self: Sized,
-    {
-        Ok(Self {})
-    }
-}
-
-impl CuTask for CaterpillarTask {
-    type Input = RPGpioMsg;
-    type Output = RPGpioMsg;
-
-    fn process(
-        &mut self,
-        _clock: &RobotClock,
-        input: &CuMsg<Self::Input>,
-        output: &mut CuMsg<Self::Output>,
-    ) -> CuResult<()> {
-        // forward the state to the next task
-        output.payload = input.payload;
-        Ok(())
-    }
-}
+struct CaterpillarApplication {}
 
 fn main() {
     let logger_runtime =
         basic_logger_runtime_setup(&PathBuf::from("/tmp/caterpillar.copper"), true)
             .expect("Failed to setup logger.");
+    debug!("Logger created.");
     let clock = logger_runtime.get_clock();
-    debug!("Application created.");
+    debug!("Creating application... ");
     let mut application =
-        TheVeryHungryCaterpillar::new(clock.clone()).expect("Failed to create runtime.");
+        CaterpillarApplication::new(clock.clone()).expect("Failed to create runtime.");
     debug!("Running... starting clock: {}.", clock.now());
     application.run(2).expect("Failed to run application.");
     debug!("End of program: {}.", clock.now());

diff --git a/examples/cu_caterpillar/src/tasks.rs b/examples/cu_caterpillar/src/tasks.rs
@@ -0,0 +1,63 @@
+use copper::clock::{OptionCuTime, RobotClock};
+use copper::cutask::{CuMsg, CuSrcTask, CuTask, CuTaskLifecycle};
+use copper::CuResult;
+use cu_rp_gpio::RPGpioMsg;
+use serde::{Deserialize, Serialize};
+
+#[derive(Serialize, Deserialize, Default)]
+pub struct CaterpillarMsg(bool);
+
+pub struct CaterpillarSource {
+    state: bool,
+}
+
+impl CuTaskLifecycle for CaterpillarSource {
+    fn new(_config: Option<&copper::config::NodeInstanceConfig>) -> CuResult<Self>
+    where
+        Self: Sized,
+    {
+        Ok(Self { state: true })
+    }
+}
+
+impl CuSrcTask for CaterpillarSource {
+    type Output = RPGpioMsg;
+
+    fn process(&mut self, clock: &RobotClock, output: &mut CuMsg<Self::Output>) -> CuResult<()> {
+        // forward the state to the next task
+        self.state = !self.state;
+        output.payload = RPGpioMsg {
+            on: self.state,
+            creation: clock.now().into(),
+            actuation: OptionCuTime::none(),
+        };
+        Ok(())
+    }
+}
+
+pub struct CaterpillarTask {}
+
+impl CuTaskLifecycle for CaterpillarTask {
+    fn new(_config: Option<&copper::config::NodeInstanceConfig>) -> CuResult<Self>
+    where
+        Self: Sized,
+    {
+        Ok(Self {})
+    }
+}
+
+impl CuTask for CaterpillarTask {
+    type Input = RPGpioMsg;
+    type Output = RPGpioMsg;
+
+    fn process(
+        &mut self,
+        _clock: &RobotClock,
+        input: &CuMsg<Self::Input>,
+        output: &mut CuMsg<Self::Output>,
+    ) -> CuResult<()> {
+        // forward the state to the next task
+        output.payload = input.payload;
+        Ok(())
+    }
+}